/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <move_base/move_base.h>
#include "common_msg/Carto2DriverInfo.h"
bool position_valid = true;
void cartoCallback(const common_msg::Carto2DriverInfo::ConstPtr& carto_msg)
{
	int move_flag = carto_msg->moveFlag;
	if(move_flag != 0)
	{
		position_valid = true;
	}	
}
int main(int argc, char** argv){
  ros::init(argc, argv, "move_base_node");
  ros::NodeHandle _Node;
  ros::Subscriber carto2driver = _Node.subscribe("/carto_position",2, cartoCallback);

  while(ros::ok() && !position_valid)
  {
    usleep(10000);
    ros::spinOnce();
  }
  //sleep(15.0);
  ROS_INFO("start move base core");
  tf::TransformListener tf(ros::Duration(10));
  move_base::MoveBase move_base( tf );

  //ros::MultiThreadedSpinner s;
  ros::spin();

  return(0);
}
